JP7247851B2 - driver assistance device - Google Patents

Description

The present invention relates to a driver assistance device that assists the driver in monitoring the surroundings of the vehicle.

A conventional driver assistance device of this type (hereinafter referred to as a "conventional device") captures an area around the vehicle using an imaging device mounted on the vehicle in order to assist the driver in monitoring the surroundings of the vehicle. A peripheral monitoring screen including the captured image (peripheral image) is displayed on the display device.

Patent Literature 1 discloses a navigation device that presents a driver with an operation screen that is operated to adjust settings such as navigation conditions of the navigation device. Even in the conventional device, it is possible to present the driver with an operation screen (hereinafter referred to as a "customization screen") that is operated to adjust the operation contents of the driver assistance function (for example, the parking assistance function). It is done.

JP-A-2005-351868

The conventional device switches the periphery monitoring screen to the customization screen when display of the customization screen is requested while the periphery monitoring screen is being displayed. Therefore, in the conventional device, the driver cannot see the surroundings monitoring screen while the customization screen is being displayed, so there is a possibility that the "function for supporting the driver's monitoring of the surroundings of the vehicle" will be degraded. be. In this case, it is difficult for the driver to grasp the change in the surrounding area of the vehicle (for example, the change in the situation such as a moving body or a pedestrian approaching the vehicle) from the screen, which is not preferable.

The present invention has been made to address the above-mentioned problems. That is, one of the objects of the present invention is to provide a driver assistance device capable of reducing the possibility of deterioration of the function of assisting the driver in monitoring the surroundings of the vehicle. Hereinafter, the driver assistance device of the present invention may be referred to as "the driver assistance device of the present invention".

The driver assistance system of the present invention is a driver assistance system (10) that is mounted on a vehicle (100) and that assists the driver in confirming the surroundings of the vehicle by presenting a surroundings monitoring screen to the driver.
The driver support device includes an imaging device (40) that acquires image information by imaging the surroundings of the vehicle, and calls attention to at least one of a stationary object and a moving object existing in the area around the vehicle. a detection device (30, 40, 50) for detecting an object; a touch panel (60) configured to display an image; a display control unit (90) for controlling display of a screen including the peripheral image to be displayed in (60).
The display control unit is configured to be capable of executing attention calling screen display control for displaying an attention calling screen (G5) including the surrounding image while a predetermined condition is established by detecting the attention calling object. be done.
Further, when the display control unit displays the peripheral monitoring screen (G3) including the peripheral image and the customize button (Btc) (determination of "Yes" in step 1210), the customize button is If touch operation is performed (determination of "Yes" in step 1215), the periphery monitoring screen is changed to a customization screen (G4a ) (step 1220), and when the predetermined condition is met while the customization screen is being displayed (step 1310) (determination of "Yes" in step 1315), the customization screen is displayed. , to switch to the alert screen (step 1330).

According to the driver assistance device of the present invention, when a predetermined condition is satisfied while the customization screen is being displayed, the customization screen is switched to the warning screen and displayed. As a result, the driver assistance system of the present invention can reduce the possibility that the function of assisting the driver in monitoring the surroundings of the vehicle will deteriorate.

In the above aspect,
The display control unit
After the customization screen is switched to the alerting screen and displayed only while the predetermined condition is satisfied, the alerting screen is switched to the customization screen and displayed (steps 1410, 1415, and 1420). ) is configured as

According to the aspect described above, when the customization screen is displayed, the customization screen is switched to the alert screen only while the predetermined condition is satisfied, and then the alert screen is switched to the customization screen. displayed. As a result, the driver assistance device of the present invention can reduce the possibility that the function of assisting the driver in monitoring the surroundings of the vehicle will deteriorate, and can ensure the user's convenience regarding the operation of the customization screen.

According to the above aspect,
The customize button is configured to be set to a state in which the touch operation can be accepted when the vehicle is in a stopped state, and to be set to a state in which the touch operation cannot be accepted when the vehicle is not in a stopped state. ,
The object to be alerted is the moving object around the vehicle approaching the vehicle,
The alert screen includes the peripheral image and a moving body direction mark that is superimposed on the peripheral image and indicates an approaching direction of the moving body.

According to the aspect described above, when the vehicle is not in a stopped state, it becomes impossible to switch to the customization screen. Therefore, while the vehicle is moving, the possibility that the function of supporting the driver's monitoring of the surroundings of the vehicle is lowered is reduced. can be lowered. Furthermore, according to the aspect described above, even if the peripheral monitoring screen is switched to the customized screen and displayed when the vehicle is in a stopped state, it is particularly necessary to call attention when the vehicle is in a stopped state. Since it is possible to detect a moving object with high sensitivity, it is possible to reduce the possibility that the function for supporting the driver's monitoring of the surroundings of the vehicle will deteriorate.

In the above aspect,
The surroundings monitoring screen is a parking assistance screen that is allowed to be displayed when the parking assistance function provided in the vehicle is in a valid state (determined as "Yes" in step 1205),
The customization screen is an operation screen for adjusting the operation contents of the parking assistance function.

According to the aspect described above, it is possible to reduce the possibility that the function of assisting the driver in monitoring the surroundings of the vehicle will deteriorate when the parking assist function is activated.

In the above aspect,
The surroundings monitoring screen is a panoramic view monitor screen that is permitted to be displayed when the panoramic view monitor function provided in the vehicle is in a valid state (determination of "Yes" in step 1505),
The customization screen is an operation screen for adjusting the operation contents of the panoramic view monitor function.

According to the aspect described above, it is possible to reduce the possibility that the function of assisting the driver in monitoring the surroundings of the vehicle will deteriorate when the panoramic view monitor function is in operation.

In the above description, in order to facilitate understanding of the present invention, names and/or symbols used in the embodiments are added in parentheses to configurations of the invention corresponding to the embodiments to be described later. However, each component of the present invention is not limited to the embodiments defined by the names and/or symbols.

FIG. 1 is a diagram showing a driver assistance device according to an embodiment of the present invention and a vehicle to which the driver assistance device is applied. FIG. 2 is a diagram showing the arrangement and detection range of sonar sensor devices. FIG. 3 is a diagram showing the arrangement and imaging range of the camera sensor device. FIG. 4 is a diagram showing the arrangement of radar sensor devices. FIG. 5A is a schematic diagram showing an image displayed on the touch panel. FIG. 5B is a schematic diagram showing an image displayed on the touch panel. FIG. 6 is a schematic diagram showing an image displayed on the touch panel. FIG. 7 is a schematic diagram showing an image displayed on the touch panel. FIG. 8 is a schematic diagram showing an image displayed on the touch panel. FIG. 9 is a schematic diagram showing an image displayed on the touch panel. FIG. 10A is a schematic diagram showing an image displayed on the touch panel. FIG. 10B is a schematic diagram showing an image displayed on the touch panel. FIG. 11 is a schematic diagram showing an image displayed on the touch panel display unit. FIG. 12 is a flow chart showing a routine executed by the CPU of the ECU. FIG. 13 is a flow chart showing a routine executed by the CPU of the ECU. FIG. 14 is a flow chart showing a routine executed by the CPU of the ECU. FIG. 15 is a flow chart showing a routine executed by the CPU of the ECU. FIG. 16 is a flow chart showing a routine executed by the CPU of the ECU. FIG. 17 is a flow chart showing a routine executed by the CPU of the ECU.

<Configuration>
Hereinafter, a driver assistance device according to an embodiment of the present invention will be described with reference to the drawings. In addition, the same code|symbol is attached|subjected to the part which is the same or respond|corresponds in all the figures of embodiment. FIG. 1 shows a driver assistance device 10 according to an embodiment of the present invention and a vehicle 100 to which the driver assistance device 10 is applied.

As shown in FIG. 1, the driver assistance device 10 includes an ECU 90. As shown in FIG. ECU is an abbreviation for electronic control unit. The ECU 90 has a microcomputer as its main part. A microcomputer includes a CPU, ROM, RAM, non-volatile memory, an interface, and the like. The CPU implements various functions by executing instructions, programs or routines stored in the ROM. Note that the ECU 90 may be composed of a plurality of ECUs.

A vehicle driving force generator 11 , a brake device 12 and a steering device 13 are mounted on the vehicle 100 . The vehicle driving force generating device 11 is a device for generating a driving force for running the vehicle 100 and applying the driving force to the driving wheels of the vehicle 100 . The vehicle driving force generator 11 is, for example, an internal combustion engine, an electric motor, or the like. Brake device 12 is a device for applying a braking force for braking vehicle 100 to wheels of vehicle 100 . The steering device 13 is a device for applying a steering torque for steering the vehicle 100 to steered wheels of the vehicle 100 .

The vehicle driving force generator 11 , brake device 12 and steering device 13 are electrically connected to the ECU 90 . The ECU 90 controls the driving force applied to the drive wheels of the vehicle 100 by controlling the operation of the vehicle driving force generator 11 . The ECU 90 also controls the braking force applied to the wheels of the vehicle 100 by controlling the operation of the braking device 12 . The ECU 90 also controls the steering torque applied to the steered wheels of the vehicle 100 by controlling the operation of the steering device 13 .

(sensors, etc.)
The driver assistance device 10 includes an accelerator pedal operation amount sensor 21, a brake pedal operation amount sensor 22, a steering angle sensor 23, a steering torque sensor 24, a vehicle speed sensor 25, a yaw rate sensor 26, a longitudinal acceleration sensor 27, a lateral acceleration sensor 28, a shift A position sensor 29 , a sonar sensor device 30 , a camera sensor device 40 , a radar sensor device 50 and a touch panel display section 60 are provided.

The accelerator pedal operation amount sensor 21 is electrically connected to the ECU 90 . The ECU 90 detects the operation amount AP of the accelerator pedal 14 via the accelerator pedal operation amount sensor 21 and acquires it as the accelerator pedal operation amount AP. The ECU 90 controls the operation of the vehicle driving force generator 11 so that the driving force corresponding to the acquired accelerator pedal operation amount AP is applied from the vehicle driving force generator 11 to the driving wheels of the vehicle 100 .

The brake pedal operation amount sensor 22 is electrically connected to the ECU 90 . The ECU 90 detects the operation amount BP of the brake pedal 15 by the driver via the brake pedal operation amount sensor 22 and acquires it as the brake pedal operation amount BP. The ECU 90 controls the operation of the brake device 12 so that braking force is applied from the brake device 12 to the wheels of the vehicle 100 in accordance with the acquired brake pedal operation amount BP.

The steering angle sensor 23 is electrically connected to the ECU 90 . The ECU 90 detects the rotation angle θst of the steering wheel 16 with respect to the neutral position via the steering angle sensor 23 and acquires it as the steering angle θst.

The steering torque sensor 24 is electrically connected to the ECU 90 . The ECU 90 detects the torque TQst input from the driver to the steering shaft 17 via the steering torque sensor 24 and obtains it as the steering torque TQst.

The ECU 90 controls the operation of the steering device 13 so that steering torque corresponding to the obtained steering angle θst and steering torque TQst is applied to the steered wheels of the vehicle 100 .

The vehicle speed sensor 25 is electrically connected to the ECU 90 . The ECU 90 detects the rotational speed Vrot of each wheel of the vehicle 100 via the vehicle speed sensor 25 and obtains the rotational speed Vrot of each wheel. The ECU 90 acquires the running speed SPD of the vehicle 100 as the vehicle speed SPD based on the acquired rotational speed Vrot of each wheel.

The yaw rate sensor 26 is electrically connected to the ECU 90 . The ECU 90 detects the yaw rate YR of the vehicle 100 via the yaw rate sensor 26 and acquires it as the vehicle yaw rate YR.

The longitudinal acceleration sensor 27 is electrically connected to the ECU 90 . The ECU 90 detects the longitudinal acceleration Gx of the vehicle 100 via the longitudinal acceleration sensor 27 and acquires it as the vehicle longitudinal acceleration Gx.

Lateral acceleration sensor 28 is electrically connected to ECU 90 . The ECU 90 detects the lateral acceleration Gy of the vehicle 100 via the lateral acceleration sensor 28 and acquires it as the vehicle lateral acceleration Gy.

The shift position sensor 29 is electrically connected to the ECU 90 . A position (shift position) of a shift lever (not shown) is detected. In this example, the positions of the shift lever are park position (P), forward position (D) and reverse position (R). The ECU 90 receives the position of the shift lever from the shift position sensor 29, and controls a transmission (not shown) and/or a driving direction switching mechanism of the vehicle 100 based on the position (that is, performs shift control of the vehicle 100). It has become. Further, the ECU 90 can control the transmission and/or the driving direction switching mechanism (not shown) and switch the position of the shift lever without being based on the operation of the shift lever by the driver.

The sonar sensor device 30 includes first clearance sonar 301 to twelfth clearance sonar 312 . Hereinafter, the first clearance sonar 301 to the twelfth clearance sonar 312 are collectively referred to as "clearance sonar 313" as required.

As shown in FIG. 2, first clearance sonar 301 is attached to vehicle 100 so as to radiate ultrasonic waves from the front left end of vehicle 100 to the left front. Second clearance sonar 302 is attached to vehicle 100 so as to radiate ultrasonic waves forward from the left front end of vehicle 100 . The third clearance sonar 303 is attached to the vehicle 100 so as to radiate ultrasonic waves from the front right end of the vehicle 100 to the right front. Fourth clearance sonar 304 is attached to vehicle 100 so as to radiate ultrasonic waves forward from the right front end of vehicle 100 .

Furthermore, the fifth clearance sonar 305 is attached to the vehicle 100 so as to radiate ultrasonic waves from the rear left end of the vehicle 100 to the left rear. Sixth clearance sonar 306 is attached to vehicle 100 so as to radiate ultrasonic waves rearward from the left rear end of vehicle 100 . The seventh clearance sonar 307 is attached to the vehicle 100 so as to radiate ultrasonic waves from the rear right end of the vehicle 100 to the right rear. Eighth clearance sonar 308 is attached to vehicle 100 so as to radiate ultrasonic waves rearward from the right rear end of vehicle 100 .

Further, the ninth clearance sonar 309 is attached to the vehicle 100 so as to radiate ultrasonic waves leftward from the front left side of the vehicle 100 . Tenth clearance sonar 310 is attached to vehicle 100 so as to radiate ultrasonic waves leftward from the rear left side of vehicle 100 . Eleventh clearance sonar 311 is attached to vehicle 100 so as to radiate ultrasonic waves rightward from the front right side of vehicle 100 . The twelfth clearance sonar 312 is attached to the vehicle 100 so as to emit ultrasonic waves rightward from the rear right side of the vehicle 100 .

The clearance sonar 313 receives ultrasonic waves reflected by an object.

The sonar sensor device 30 is electrically connected to the ECU 90 . The sonar sensor device 30 transmits to the ECU 90 information about ultrasonic waves emitted by the clearance sonar 313 and ultrasonic waves received by the clearance sonar 313 . Based on the information received from the sonar sensor device 30, the ECU 90 acquires information about objects existing around the vehicle 100 as "object information".

In FIG. 2, the direction indicated by symbol Dx is the front-rear direction of the vehicle 100. Hereinafter, this direction is referred to as the "vehicle front-rear direction Dx", and the direction indicated by symbol Dy is the width direction of the vehicle 100. , hereinafter, this direction is referred to as the "vehicle width direction Dy".

The camera sensor device 40 includes a front camera 41 , a rear camera 42 , a left camera 43 and a right camera 44 . Hereinafter, the front camera 41, the rear camera 42, the left camera 43, and the right camera 44 are collectively referred to as "camera 45" as necessary. The camera 45 is also called an "imaging device".

As shown in FIG. 3, the front camera 41 is mounted at the center of the front end of the vehicle 100 so as to capture the scenery in front of the vehicle 100, and has an angle of view 41A of about 180°. The rear camera 42 is attached to the center of the rear end of the vehicle 100 so as to capture the scenery behind the vehicle 100, and its angle of view 42A is also about 180°. The left camera 43 is attached to the left side of the vehicle 100 so as to capture the scenery on the left side of the vehicle 100, and its angle of view 43A is also about 180°. The right camera 44 is attached to the right side of the vehicle 100 so as to capture the scenery on the right side of the vehicle 100, and its angle of view 44A is also approximately 180°. Note that the front camera 41 can also capture the scenery in front of the vehicle 100 with a relatively small angle of view, and the rear camera 42 can capture the scenery behind the vehicle 100 with a relatively small angle of view. is also possible.

The camera sensor device 40 is electrically connected to the ECU 90 . The ECU 90 can obtain information about the scenery image captured by each camera 45 via the camera sensor device 40 .

Hereinafter, the information regarding the image of the scenery captured by the front camera 41 will be referred to as "front image information IMG1", and the information regarding the image of the scenery captured by the rear camera 42 will be referred to as "rear image information IMG2". The information regarding the image of the scenery captured by the left camera 43 is referred to as "left image information IMG3", and the information regarding the image of the scenery captured by the right camera 44 is referred to as "right image information IMG4". Further, hereinafter, the front image information IMG1, the rear image information IMG2, the left image information IMG3, and the right image information IMG4 are collectively referred to as "image information IMG" as necessary.

The ECU 90 generates peripheral image information using the front image information IMG1, the rear image information IMG2, the left image information IMG3, and the right image information IMG4 every time a predetermined time elapses. An image displayed (generated) based on the peripheral image information is called a "peripheral image". The peripheral image is an image corresponding to at least a partial range of the area around the vehicle 100, and includes a camera viewpoint image, a synthesized image, and the like.

A camera viewpoint image is an image with the arrangement position of each lens of the camera 45 as a viewpoint.
One of the synthesized images is an image of the surroundings of the vehicle SV viewed from a virtual viewpoint set at an arbitrary position around the vehicle 100 (also referred to as a “virtual viewpoint image”).

This virtual viewpoint image generation method is well known (see, for example, Japanese Patent Application Laid-Open Nos. 2012-217000, 2016-192772, and 2018-107754). It should be noted that the ECU 90 further adds a vehicle image (for example, a vehicle polygon SP representing the shape of the vehicle 100), a graphic image composing a line or the like to support the parking operation, and a parking image to each of the camera viewpoint image and the virtual viewpoint image. An image may be generated by synthesizing (superimposing) character images constituting a message or the like supporting an action or the like. Such an image is also called a peripheral image.

Briefly explaining the method of generating the virtual viewpoint image information that is the basis of the virtual viewpoint image, the ECU 90 generates pixels included in the front image information IMG1, the rear image information IMG2, the left image information IMG3, and the right image information IMG4. ) is projected onto a predetermined projected curved surface (for example, a bowl-shaped curved surface) in a virtual three-dimensional space.

The center of the projected curved surface is defined as the position of vehicle 100 . Portions other than the center of the projected curved surface correspond to front image information IMG1, rear image information IMG2, left image information IMG3, and right image information IMG4. The ECU 90 projects pixel information included in the front image information IMG1, the rear image information IMG2, the left image information IMG3, and the right image information IMG4 onto portions other than the center of the projection curved surface.

The ECU 90 arranges "a polygon representing the shape of the vehicle 100" at the center of the projected curved surface. Then, the ECU 90 sets a virtual viewpoint in a virtual three-dimensional space, and cuts out, as image information (image), a predetermined region of the projected curved surface included in a predetermined viewing angle when viewed from the virtual viewpoint. Furthermore, the "polygon representing the shape of the vehicle 100" included in the predetermined viewing angle viewed from the virtual viewpoint is superimposed on the extracted image information (image). Thereby, virtual viewpoint image information is generated.

The radar sensor device 50 includes first to fifth radar sensors 51a to 51e. Hereinafter, the first to fifth radar sensors 51a to 51e are collectively referred to as "radar sensor 51" as required.

The radar sensor 51 is a known sensor that uses radio waves in the millimeter wave band. The radar sensor 51 acquires radar sensor target information specifying the distance between the vehicle 100 and the three-dimensional object, the relative speed between the vehicle 100 and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the vehicle 100, and the like. sensor target information” to the ECU 90.

The radar sensors 51 (51a to 51e) are arranged at predetermined positions of the vehicle 100 shown in FIG. 4, and acquire radar sensor target information of three-dimensional objects existing in a predetermined area described below.

The radar sensor 51 a acquires radar sensor target information of a three-dimensional object existing in the front right area of the vehicle 100 .
The radar sensor 51 b acquires radar sensor target information of a three-dimensional object existing in the front area of the vehicle 100 .
The radar sensor 51 c acquires radar sensor target information of a three-dimensional object existing in the left front area of the vehicle 100 .
The radar sensor 51 d acquires radar sensor target information of a three-dimensional object existing in the right rear area of the vehicle 100 .
The radar sensor 51 e acquires radar sensor target information of a three-dimensional object existing in the left rear area of the vehicle 100 .

The touch panel display unit 60 is arranged at a location of the vehicle 100 that can be visually recognized by the driver. In this example, the touch panel display unit 60 is a touch panel type display provided in a so-called navigation device.

The touch panel display section 60 is electrically connected to the ECU 90 . The ECU 90 can display (display) various screen images (also referred to simply as “screens”) such as surroundings monitoring screen images including surroundings images on the touch panel display section 60 .

The parking assistance switch 70 is a switch operated (pressed/depressed) by the user.

The camera switch 80 is a switch operated (pressed/depressed) by the user.

(Outline of driver support function)
The vehicle 100 has at least one of a parking assistance function and a panoramic view monitor function (hereinafter referred to as a “PVM function”) (both functions in this example) as driver assistance functions for assisting the driver. I have. Note that when a certain driver assistance function is set to an enabled state (effective), execution of control corresponding to that driver assistance function is permitted. When a driver assistance function is disabled (disabled), execution of control corresponding to that driver assistance function is not allowed (that is, prohibited).

(parking assistance function)
The parking assistance function is a function that assists the driver in parking the vehicle (leaving the parking lot) by automatically driving the vehicle 100 when the vehicle 100 is parked or exiting the garage. The parking support function also includes a function of presenting a surroundings monitoring screen including a surroundings image to the driver to assist the driver in monitoring the surroundings of the vehicle during parking or exiting the vehicle.

The ECU 90 executes control for implementing the parking assist function. The control for realizing this parking support function includes an automatic parking control for automatically moving the vehicle 100 from the parking position to the target parking position and then setting the vehicle to the parking state, and an appropriate peripheral monitoring control for the touch panel display unit 60 . Contains display controls that display the screen.

(Panoramic view monitor function)
The PVM function assists the driver in monitoring the surroundings of the vehicle by displaying a surroundings monitoring screen including a surroundings image such as an overhead image on the touch panel display unit 60 when the vehicle 100 is traveling at a relatively low speed. It is a function to The ECU 90 is designed to execute control for realizing the PVM function. Control for realizing this PVM function includes display control for displaying an appropriate peripheral monitoring screen on the touch panel display unit 60 .

(Mobile alarm function)
The vehicle 100 has a moving object warning function as a warning function. The moving object warning function is based on the radar sensor target information acquired by the radar sensor 51 and the information (camera target information) on the object specified based on the imaged image acquired by the camera 45. This is a warning function that detects a moving object (another vehicle, a pedestrian, etc.) and warns the driver of the vehicle 100 when the moving object is detected.

Display of a warning screen including a peripheral image may be used to call the driver's attention. The ECU 90 is adapted to execute control for realizing the mobile object warning function.

When the radar sensor 51 and the camera 45 detect a moving object and the display condition of the attention calling screen (the display condition of the moving object warning screen) is met, the ECU 90 displays the moving object warning screen as the attention calling screen on the touch panel display unit. 60. When the radar sensor 51 and the camera 45 no longer detect the moving object and the conditions for ending the display of the warning screen (conditions for ending the moving object alarm screen) are satisfied, the ECU 90 displays the screen on the touch panel display unit 60 . End the display of the mobile alarm screen.

The mobile warning screen includes a first mobile warning image and a second mobile warning image. There are two types of the first moving object warning image: the front moving object warning image Ga1 shown in FIG. 5A and the backward moving object warning image Ga2 shown in FIG. 5B.

The front moving object warning image Ga1 shown in FIG. 5A includes a camera viewpoint image Gfc of the front camera 41, and a first moving object direction mark MC1, a second moving object direction mark MC2, and a second moving object direction mark MC2 superimposed on the camera viewpoint image Gfc. 3 includes a mobile orientation mark MC3. The first moving body direction mark MC1, the second moving body direction mark MC2, and the third moving body direction mark MC3 are marks (fourth to fourteenth moving body direction marks to be described later) that indicate the approach direction of the detected moving body to the vehicle. The same applies to MC4 to MC14.). Although illustration is omitted, the front moving object warning image Ga1 may be an image in which a graphic image or the like constituting a line or the like that supports the parking operation is further superimposed on the camera viewpoint image Gfc and displayed. .

The first moving body direction mark MC<b>1 is superimposed on a predetermined position P<b>1 in front of the vehicle 100 in the camera viewpoint image Gfc of the front camera 41 . The second moving body direction mark MC2 is superimposed and displayed at a predetermined position P2 on the right front of the vehicle 100 in the camera viewpoint image Gfc of the front camera 41 . The third moving body direction mark MC3 is superimposed and displayed at a predetermined position P3 on the left front of the vehicle 100 in the camera viewpoint image Gfc of the front camera 41 .

Note that in FIG. 5A, the first to third moving body direction marks MC1 to MC3 are all displayed in the forward moving body warning image Ga1, and these first to third moving body direction marks MC1 to MC3 are displayed. is controlled based on the detected azimuth of the moving object (azimuth with respect to the vehicle 100). That is, for example, a moving body direction mark at a position having the same orientation as that of the detected moving body is displayed, and a moving body direction mark at a position having a different bearing from that of the detected moving body is not displayed.

The rearward moving object warning image Ga2 shown in FIG. 5B includes a camera viewpoint image Gbc of the rear camera 42, and a fourth moving object direction mark MC4, a fifth moving object direction mark MC5, and a fourth moving object direction mark MC5 superimposed on the camera viewpoint image Gbc. 6 mobile body direction mark MC6. Although illustration is omitted, the rearward moving object warning image Ga2 may be an image in which a graphic image or the like constituting a line or the like that supports the parking operation is further superimposed on the camera viewpoint image Gbc.

The fourth moving body direction mark MC4 is superimposed and displayed at a predetermined position P4 at the rear center of the vehicle 100 in the camera viewpoint image Gbc of the rear camera 42 . The fifth moving object direction mark MC<b>5 is displayed at a predetermined position P<b>5 on the right rear of the vehicle 100 in the camera viewpoint image Gbc of the rear camera 42 . The sixth moving body direction mark MC6 is superimposed and displayed at a predetermined position P6 on the left rear of the vehicle 100 in the camera viewpoint image Gbc of the rear camera .

In FIG. 5B, the fourth to sixth moving body direction marks MC4 to MC6 are all displayed in the backward moving body warning image Ga2. is controlled based on the detected orientation of the moving object. That is, for example, a moving body direction mark at a position having the same orientation as that of the detected moving body is displayed, and a moving body direction mark at a position having a different bearing from that of the detected moving body is not displayed.

The second moving object warning image is one type of the omnidirectional moving object warning image G1b shown in FIG. As shown in FIG. 6, the bird's-eye view image G1h, the vehicle polygon SP, and the seventh moving body direction mark MC7, the eighth moving body direction mark MC8, and the ninth moving body direction mark MC9 superimposed on the bird's-eye view image G1h are displayed. , a tenth vehicle direction mark MC10, an eleventh vehicle direction mark MC11, a twelfth vehicle direction mark MC12, a thirteenth vehicle direction mark MC13 and a fourteenth vehicle direction mark MC14. Although illustration is omitted, the omnidirectional moving object warning image G1b may be an image in which a graphic image or the like constituting lines or the like for supporting the parking operation is further superimposed on the bird's-eye view image G1h and displayed.

The seventh moving body direction mark MC7 is superimposed and displayed at a predetermined position P7 at the front center of the vehicle 100 in the bird's-eye view image G1h. The eighth moving body direction mark MC8 is superimposed on a predetermined position P8 on the right front of the vehicle 100 in the bird's-eye view image G1h. The ninth moving body direction mark MC9 is superimposed and displayed at a predetermined position P9 on the left front of the vehicle 100 in the overhead image G1h. The tenth moving object direction mark MC10 is displayed superimposed on a predetermined position P10 on the right of the vehicle 100 in the overhead image G1h. The eleventh moving body direction mark MC11 is displayed superimposed on a predetermined position P11 on the left of the vehicle 100 in the overhead image G1h. The twelfth moving body direction mark MC12 is superimposed on a predetermined position P12 at the rear center of the vehicle 100 in the overhead image G1h. The thirteenth moving body direction mark MC13 is superimposed on a predetermined position P13 on the right rear of the vehicle 100 in the bird's-eye view image G1h. The fourteenth moving body direction mark MC14 is superimposed on a predetermined position P14 on the left rear of the vehicle 100 in the bird's-eye view image G1h.

In FIG. 6, the seventh to fourteenth moving body direction marks MC7 to MC14 are all displayed in the omnidirectional moving body warning image G1b. The display is controlled based on the detected orientation of the moving object. That is, for example, a moving body direction mark at a position having the same orientation as that of the detected moving body is displayed, and a moving body direction mark at a position having a different bearing from that of the detected moving body is not displayed.

<Outline of display control>
(Parking assistance display mode)
When a predetermined operation is performed on the parking assistance switch 70 at a predetermined timing, the ECU 90 sets the display mode of the image displayed on the touch panel display section 60 to the parking assistance display mode. The parking assistance display mode is a display mode of an image displayed on the touch panel display unit 60 when the parking assistance function is set to be enabled.

In the parking assistance display mode, the ECU 90 displays, for example, the parking assistance screen G1 shown in FIG. 60.

The parking assistance screen G1 is divided into a left area (area on the left side of the imaginary line In) and a right area (area on the right side of the imaginary line In).

A left area of the parking assistance screen G1 includes a left assistance image G1L, a customize button Btc, an icon Ic1, an icon Ic2, a message Ms1, and a message Ms2.

The left support image G1L includes a camera viewpoint image G1c of the front camera 41 and a support graphic image GS1L composed of lines and the like superimposed on the camera viewpoint image G1c. In this example, there are two types of camera viewpoint images G1c, for example, a normal view image that is a relatively narrow-angle camera viewpoint image and a wide-view image that is a relatively wide-angle camera viewpoint image. I have an image. A camera viewpoint image G1c shown in FIG. 7 is a normal view image that is a camera viewpoint image of the front camera 41 with a relatively narrow angle.

The customization button Btc is a button configured by an image that is touch-operated by the user in order to switch and display the customization screen. The customize button Btc displayed on the touch panel display unit 60 is operated by the user touching the customize button Btc. This operation is called a "touch operation". An operation signal corresponding to the touch operation is generated by a touch operation on the customize button Bt displayed on the touch panel display section 60 . The ECU 90 receives this generated operation signal.

When vehicle 100 is in a stopped state, ECU 90 sets customize button Btc to a state in which a touch operation on customize button Btc cannot be accepted. When the vehicle 100 is not in a stopped state (that is, when the vehicle 100 is in motion), the ECU 90 sets a state in which a touch operation on the customize button Btc can be accepted.

The ECU 90 displays the customize button Btc in either the first display mode or the second display mode based on the acceptance state of the touch operation on the customize button Btc. When the touch operation on the customize button Btc can be accepted, the ECU 90 displays the customize button Btc in the first display mode. When the touch operation on the customize button Btc cannot be accepted, the ECU 90 displays the customize button Btc in the second display mode.

Note that the customization button Btc in FIG. 7 is displayed in a second display mode (for example, toned down (dark state)) because the vehicle 100 is in a moving state (a non-stop state). Therefore, the parking assistance screen G1 of FIG. 7 is in a state where the touch operation on the customize button Btc cannot be accepted.

When the vehicle 100 is stopped, the ECU 90 sets the customization button Btc to a state in which it is possible to accept a touch operation, and changes the customization button Btc from the second display mode to the first display mode (for example, tone display mode) shown in the block BR1. up (brightened state)).

Icon Ic1 is displayed to indicate the operating state of the parking assist function. The ECU 90 displays the icon Ic1 when the parking support function is enabled, and hides the icon Ic1 when the parking support function is not enabled. The icon Ic2 indicates the type of the camera of the camera viewpoint image G1c (which camera viewpoint image is the front camera 41 or the rear camera 42) and which camera the camera viewpoint image G1c has a relatively narrow angle or a relatively wide angle. Indicates whether it is a viewpoint image. The ECU 90 displays an appropriate icon Ic2 according to the type of the camera viewpoint image G1c.

The message M1 and the message MS2 are messages (characters) displayed to present the moving direction of the vehicle to the driver and to assist the driver in monitoring the surroundings of the vehicle. The ECU 90 displays appropriate messages M1 and MS2 according to the situation of the vehicle 100. FIG. The support graphic image GS1L is displayed to support the driver's monitoring of the surroundings of the vehicle.

A right area of the parking assistance screen G1 includes a right assistance image G1R. The right support image G1R includes a bird's-eye view image G1h, a support graphic image GS1R composed of lines and the like superimposed on the bird's-eye view image G1h, and a vehicle polygon SP. The support graphic image GS1R, like the support graphic image GS1L, is a graphic image displayed to support the driver's monitoring of the surroundings of the vehicle.

Furthermore, in this parking assistance display mode, when the vehicle 100 is reversed or stopped with the shift position in the "R" state, the ECU 90 displays, for example, the parking assistance screen G2 shown in FIG. to display.

A left area of the parking assistance screen G2 includes a left assistance image G2L, a customize button Btc, an icon Ic1, an icon Ic2, a message Ms1, and a message Ms2.

The left support image G2L includes a camera viewpoint image G2c of the rear camera 42 and a support graphic image GS1L composed of lines and the like superimposed on the camera viewpoint image G2c. Note that the camera viewpoint image G2c in FIG. 8 is a normal view image of the rear camera 42. As shown in FIG.

A right area of the parking assistance screen G2 includes a right assistance image G2R. The right support image G2R includes a bird's-eye view image G1h, a support graphic image GS1R composed of lines and the like superimposed on the bird's-eye view image G1h, and a vehicle polygon SP.

<Outline of operation>
For example, when the display mode is the parking assistance display mode, the driver of the vehicle 100 performs a brake operation in a state where the shift position is "D" or "N", and the vehicle 100 is stopped. assume. Furthermore, in this case, assume a situation in which the mobile unit warning function is set to an enabled state.

In this case, for example, a situation is assumed in which the parking assistance screen G3 is displayed that differs from FIG. 7 only in that the customize button Btc shown in FIG. 9 is displayed in the first display mode.

In this situation, when the customization button Btc displayed in the first display mode on the parking assistance screen G3 is touch-operated, the ECU 90 changes the parking assistance screen G3 displayed on the touch panel display unit 60 to the state shown in FIG. 10A. to the customization screen G4a shown in FIG.

The customization screen G4a is an operation screen operated to adjust the details of the operation of the parking assistance function. The customization screen G4a includes function change buttons Bt1 that are touch-operated to change settings such as the name of the function whose setting can be changed, the contents of operation of the function, and the setting value of the function displayed in each of the plurality of frames FR. , screen switching buttons Bt2 and Bt3 touch-operated to switch the customization screen to another customization screen, a return button Btr, and the like.

Note that the customization screen G4b shown in FIG. 10B is an operation screen that is operated to adjust the operation details of the PVM function. When the screen switching button Bt3 is touch-operated while the customization screen G4a of FIG. 10A is displayed, the ECU 90 switches and displays the customization screen G4a shown in FIG. 10A to the customization screen G4b shown in FIG. 10B. do. When the screen switching button Bt2 is touch-operated while the customization screen G4b of FIG. 10B is displayed, the ECU 90 switches and displays the customization screen G4b shown in FIG. 10B to the customization screen G4a shown in FIG. 10A. do.

Furthermore, it is assumed that the alerting function (moving object warning function in this example) is enabled when the customization screen G4a shown in FIG. 10A is displayed on the touch panel display unit 60 . Further, in this situation, a situation is assumed in which a moving object approaching the vehicle 100 from the front right side of the vehicle 100 is detected, and thus the condition for displaying the warning screen is established.

In this case, the ECU 90 switches the customization screen G4a to the moving object warning screen G5 shown in FIG.

The left area of the moving object warning screen G5 includes a forward moving object warning image Ga1, a customize button Btc, an icon Ic1, an icon Ic2, a message Ms1, and a message Ms2.

The front moving object warning image Ga1 includes a camera viewpoint image G1c of the front camera 41, a support graphic image GS1L superimposed on the camera viewpoint image G1c, and a second moving object direction mark MC2. A camera viewpoint image G1c is a normal view image of the front camera 41 . Note that the camera viewpoint image G1c may be a wide-view image of the front camera 41. FIG. The second moving object direction mark MC2 is a predetermined position around the vehicle 100 that shares the same orientation (orientation with respect to the vehicle 100) as the detected moving object in the camera viewpoint image G1c (in this example, the right front mark). It is superimposed and displayed at a predetermined position P2) on the right front of the vehicle 100 having the same orientation as the moving object.

The right area of the moving object warning screen G5 includes the omnidirectional moving object warning image G1b. The omnidirectional moving object warning image G1b includes a bird's-eye view image G1h, a support graphic image GS1R superimposed on the bird's-eye view image G1h, an eighth moving body direction mark MC8, and a vehicle polygon SP. The eighth moving object direction mark MC8 is a predetermined position around the vehicle 100 that shares the same orientation with the detected moving object in the bird's-eye view image G1h (in this example, the position of the vehicle 100 that shares the same orientation with the moving object on the right front). It is superimposed and displayed at a predetermined position P8) on the front right.

After that, when the condition for terminating the display of the moving object warning screen G5 is satisfied, the ECU 90 switches the moving object warning screen G5 shown in FIG. The customization screen G4a is displayed on the touch panel display section 60 again.

When the return button Btr of the customization screen G4a being displayed on the touch panel display section 60 is touch-operated to end the display of the customization screen G4a, the ECU 90 returns the customization displayed on the touch panel display section 60. The screen G4a is switched to the parking assistance screen G3 shown in FIG. 9 to display the parking assistance screen G3 on the touch panel display section 60. FIG.

(PVM display mode)
When the camera switch 80 is operated while the vehicle 100 is in a predetermined state, the ECU 90 sets the display mode of the image displayed on the touch panel display portion 60 to the PVM display mode. The PVM display mode is a display mode of images displayed when the PVM function is set to the enabled state.

In the PVM display mode, a surroundings monitoring screen (hereinafter also referred to as "PVM screen") including a predetermined surroundings image is displayed according to the shift position when the camera switch 80 is operated. The PVM screen is, for example, a screen including both a composite image or a bird's-eye view image and a camera viewpoint image as seen obliquely from above around the vehicle.

Furthermore, a PVM screen (for example, a screen including a bird's-eye view image and a camera viewpoint image) can be changed to another type of PVM screen (for example, a camera viewpoint image of the left camera 43) by a touch operation on a screen changeover switch included in the PVM screen (not shown). and a screen including camera viewpoint images of the right camera 44).

<Outline of operation>
For example, when the display mode is the PVM display mode, it is assumed that the vehicle 100 is stopped by the user performing a brake operation while the shift position is "D" or "N".

In this case, the ECU 90 displays a PVM screen (a screen including a bird's-eye view image and a camera viewpoint image (not shown)) including the customize button Btc, as in the parking assistance display mode described above. When the customization button Btc in the PVM screen is touch-operated, the PVM screen displayed on the touch panel display section 60 is switched to the customization screen G4b shown in FIG. do.

Furthermore, while the customization screen G4b is being displayed on the touch panel display unit 60, if the attention calling function (moving object warning function in this example) is in a valid state and the attention calling screen display condition is satisfied, the ECU 90 , the PVM screen is switched to the moving object alarm screen, and the moving object alarm screen is displayed on the touch panel display unit 60 .

After that, when the condition for terminating the display of the moving object alarm screen is satisfied, the ECU 90 switches the moving object alarm screen to the customization screen G4b shown in FIG.

When the return button Btr of the customization screen G4b being displayed on the touch panel display section 60 is touch-operated to satisfy the customization screen display end condition, the ECU 90 closes the customization screen G4b displayed on the touch panel display section 60. The PVM screen is displayed on the touch panel display unit 60 by switching to the PVM screen.

<Specific operation>
The CPU of the ECU 90 (hereinafter simply referred to as "CPU") executes the routine shown in FIG. 12 each time a predetermined period of time elapses.

Therefore, at a predetermined timing, the CPU starts processing from step 1200 in FIG. 12, proceeds to step 1205, and determines whether the display mode is the parking assistance display mode.

If the display mode is not the parking assistance display mode, the CPU determines "No" at step 1205, proceeds to step 1295, and terminates this routine.

On the other hand, if the display mode is the parking assistance display mode, the CPU determines "Yes" in step 1205 and proceeds to step 1210 to check whether the parking assistance screen is displayed on the touch panel display unit 60 or not. judge.

If the parking assistance screen is not displayed on the touch panel display unit 60, the CPU determines "No" in step 1210, proceeds to step 1295, and terminates this routine.

When the parking assistance screen is displayed on the touch panel display unit 60, the CPU determines "Yes" in step 1210, proceeds to step 1215, and determines whether or not the customization button Btc has been touch-operated.

When it is determined that the customize button Btc has not been touch-operated, the CPU determines "No" in step 1215, proceeds to step 1295, and terminates this routine.

On the other hand, if it is determined that the customize button Btc has been touch-operated, the CPU determines "Yes" in step 1215, sequentially performs the processing of step 1220 described below, and proceeds to step 1095. Terminate this routine once.

Step 1220: The CPU switches the parking assistance screen to the customization screen G4a, and displays the customization screen G4a on the touch panel display section 60. FIG.

The CPU executes the routine shown in the flow chart of FIG. 13 each time a predetermined period of time elapses. Accordingly, at a predetermined timing, the CPU starts processing from step 1300 in FIG. 13, proceeds to step 1305, and determines whether the display mode is the parking assistance display mode.

If the display mode is not the parking assistance display mode, the CPU determines "No" at step 1305, proceeds to step 1395, and ends this routine. On the other hand, if the display mode is the parking assistance display mode, the CPU determines "Yes" in step 1305 and proceeds to step 1300 to check whether the touch panel display unit 60 is displaying the customization screen G4a. judge.

If the customization screen G4a is not displayed on the touch panel display section 60, the CPU determines "No" in step 1310, proceeds to step 1395, and terminates this routine.

On the other hand, if the customization screen G4a is displayed on the touch panel display unit 60, the CPU determines "Yes" in step 1310 and proceeds to step 1315 to determine whether the display conditions for the mobile alarm screen are met. determine whether or not

If the display condition for the moving object warning screen is not satisfied, the CPU determines "Yes" in step 1315, proceeds to step 1320, and determines whether the display end condition for the customization screen G4a is satisfied.

If the condition for ending the display of the customization screen G4a is not satisfied, the CPU determines "No" in step 1320, proceeds to step 1395, and temporarily ends this routine.

On the other hand, if the condition for ending the display of the customization screen G4a is satisfied, the CPU performs the process of step 1325 described below, then proceeds to step 1395 and temporarily ends this routine.

Step 1325: The CPU switches the customization screen G4a to the parking assistance screen, and displays the parking assistance screen on the touch panel display section 60. FIG.

If the conditions for displaying the mobile alarm screen are satisfied at the time of executing the processing of step 1315, the CPU determines "Yes" in step 1315, and sequentially performs the processing of steps 1330 and 1335 described below. After execution, the process proceeds to step 1395 and the present routine is terminated.

Step 1330: The CPU switches the customization screen G4a to the mobile alarm screen, and displays the mobile alarm screen on the touch panel display section 60. FIG.
Step 1335: Set the value of the flag Xf to "1". Note that the flag Xf is set to "0" in the initialization routine executed by the CPU when the ignition key switch (not shown) of the vehicle 100 is changed from the off position to the on position. Further, the flag Xf is also set to "0" by the process of step 1425, which will be described later. The flag Xf indicates that the screen has been switched to the mobile alarm screen while the customization screen G4a is being displayed.

The CPU executes the routine shown in the flow chart of FIG. 14 each time a predetermined period of time elapses. Accordingly, at a predetermined timing, the CPU starts processing from step 1400 in FIG. 14, proceeds to step 1405, and determines whether the display mode is the parking assistance display mode.

If the display mode is not the parking assistance display mode, the CPU determines "No" at step 1405, proceeds to step 1495, and terminates this routine.

If the display mode is the parking assistance display mode, the CPU determines "Yes" in step 1405, proceeds to step 1410, and determines whether the value of the flag Xf is "1".

If the value of the flag Xf is not "1", the CPU determines "No" at step 1410, proceeds to step 1495, and ends this routine.

On the other hand, if the value of the flag Xf is "1", the CPU makes a "Yes" determination in step 1410, proceeds to step 1415, and determines whether or not the redisplay condition for the customization screen G4a is satisfied. judge. For example, the condition for redisplaying the customization screen G4a is met when the end condition for the mobile alarm screen is met.

If the redisplay condition for the customization screen G4a is not satisfied, the CPU makes a "No" determination in step 1415, proceeds to step 1495, and terminates this routine.

On the other hand, if the condition for redisplaying the customization screen G4a is satisfied, the CPU determines "Yes" in step 1415, performs the processing of steps 1420 and 1425 described below in order, and then performs step 1495. to exit this routine.

Step 1420: The CPU switches the moving object warning screen to the customization screen G4a, and displays the customization screen G4a on the touch panel display section 60. FIG. At this time, the CPU displays on the touch panel display section 60 the customization screen G4a in the same state as the customization screen G4a immediately before switching to the moving object warning screen in step 1330 described above.

Therefore, when switching to the customization screen G4a at step 1420, the user can operate the customization screen G4a in the same state as immediately before switching to the mobile alarm screen at step 1330. FIG. Thereby, the user's convenience regarding the operation of the customization screen G4a can be ensured.
Step 1425: The CPU sets the value of the flag Xf to "0".

The CPU executes the routine shown in the flow chart of FIG. 15 each time a predetermined period of time elapses. The routine in FIG. 15 differs from the routine in FIG. 12 only in the following points.
• The processing of step 1505 is executed instead of step 1205 . That is, the CPU determines whether the display mode is the PVM mode instead of determining whether the display mode is the parking assistance display mode.
• The processing of step 1510 is executed instead of step 1210 . That is, the CPU determines whether the PVM screen is being displayed instead of determining whether the parking assistance screen is being displayed.
• The processing of step 1520 is executed instead of step 1220 . That is, the CPU switches the PVM screen to the customization screen G4b and displays the customization screen G4b on the touch panel display section 60 .

The CPU executes the routine shown in the flow chart of FIG. 16 each time a predetermined period of time elapses. The routine of FIG. 16 differs from the routine of FIG. 13 only in the following points.
• The processing of step 1605 is executed instead of step 1305 . That is, the CPU determines whether the display mode is the PVM mode instead of determining whether the display mode is the parking assistance display mode.
• The processing of step 1625 is executed instead of step 1325 . That is, the CPU displays the PVM screen instead of displaying the parking assistance screen.

The CPU executes the routine shown in the flow chart of FIG. 17 each time a predetermined period of time elapses. The flowchart of FIG. 17 differs from the flowchart of FIG. 14 only in the following points.
• The processing of step 1705 is executed instead of step 1405 . That is, the CPU determines whether the display mode is the PVM mode instead of determining whether the display mode is the parking assistance display mode.

<effect>
As described above, according to the driver assistance device (driver assistance device 10) according to the embodiment of the present invention, when the customization screen is displayed, a moving object approaching the vehicle 100 is detected. When a predetermined condition is satisfied by , the customized screen is switched to a moving object warning screen including a peripheral image and displayed. Therefore, the driver assistance device according to the embodiment of the present invention can reduce the possibility that the function of assisting the driver in monitoring the surroundings of the vehicle will deteriorate.

<Modification>
The present invention is not limited to the above embodiments, and various modifications can be adopted within the scope of the present invention.

For example, in the present embodiment, the vehicle 100 may be provided with at least one of the functions described below as the above-described alert function together with the mobile object warning function. Furthermore, the vehicle 100 may be equipped with at least one of the functions described below as the above-described alert function instead of the mobile object warning function.

(clearance sonar function)
The clearance sonar function is a function of detecting the distance between the vehicle 100 and a stationary object using the clearance sonar 313 and alerting the driver of the vehicle 100 when the stationary object is detected. The ECU 90 executes control for realizing the clearance sonar function.

When the clearance sonar 313 detects a stationary object (obstacle) and the conditions for displaying the attention screen are satisfied, the ECU 90 displays the attention screen for calling attention to the existence of the obstacle on the touch panel display unit 60 . do. When the clearance sonar 313 no longer detects a stationary object (obstacle) and the condition for ending the display of the attention calling screen is satisfied, the ECU 90 ends the display of the attention calling screen displayed on the touch panel display unit 60. .

(Front cross traffic alert function)
The front cross traffic alert function (hereinafter referred to as the "FCTA function") uses radar sensor target information acquired by the radar sensor 51a installed at the front right end of the vehicle 100 and the radar sensor 51c installed at the front left end of the vehicle 100. , and warns the driver of the vehicle 100 when the other vehicle is detected. The ECU 90 executes control for realizing the FCTA function.

When at least one of the radar sensor 51a and the radar sensor 51c detects an approaching vehicle and the conditions for displaying the attention screen are satisfied, the ECU 90 displays the attention screen on the touch panel to alert the other vehicle that the other vehicle is approaching. Displayed in section 60 . When at least one of the radar sensor 51a and the radar sensor 51c no longer detects the other vehicle and the condition for ending the display of the caution screen is satisfied, the ECU 90 stops the caution screen displayed on the touch panel display unit 60. End the display.

(Rear cross traffic alert function)
The rear cross traffic alert (hereinafter referred to as the "RCTA function") detects the radar sensor targets acquired by the radar sensor 51d installed at the right rear end of the vehicle 100 and the radar sensor 51e installed at the left rear end. This function detects the approach of other vehicles crossing from the left and right behind the vehicle 100 based on the information, and alerts the driver of the vehicle 100 when the other vehicle is detected. The ECU 90 executes control for realizing the RCTA function.

When at least one of the radar sensor 51d and the radar sensor 51e detects an approaching vehicle and the conditions for displaying the attention screen are met, the ECU 90 displays the attention screen on the touch panel to alert the other vehicle that the other vehicle is approaching. Displayed in section 60 . When at least one of the radar sensor 51d and the radar sensor 51e no longer detects the other vehicle and the condition for ending the display of the attention calling screen is met, the display of the attention calling screen displayed on the touch panel display unit 60 is terminated. do.

(Rear camera detection function)
The rear camera detection function (hereinafter referred to as “RCD function”) detects a predetermined range behind the vehicle 100 based on camera target information acquired by the rear camera 42 while the vehicle 100 is moving backward. This is a function of detecting a pedestrian present in the vehicle 100 and alerting the driver of the vehicle 100 when the pedestrian is detected. The ECU 90 executes control for realizing the RCD function.

When the rear camera 42 detects a pedestrian and the conditions for displaying the attention screen are satisfied, the ECU 90 displays the attention screen on the touch panel display unit 60 to alert that the pedestrian exists behind. The ECU 90 terminates the display of the alert screen displayed on the touch panel display unit 60 when the condition for ending the display of the alert screen is satisfied because the rear camera 42 no longer detects the pedestrian.

These alerting functions described above also operate in the same manner as in the above-described embodiment when the functions are enabled. That is, when the display condition for the attention calling screen is satisfied while the customization screen is being displayed, the ECU 90 switches from the customization screen to the attention calling screen and displays the attention calling screen on the touch panel display section 60 . The ECU 90 switches from the customizing screen to the customizing screen and displays the customizing screen on the touch panel display unit 60 when a condition for ending the display of the caution screen is met while the customizing screen is switched to the caution screen. indicate.

For example, in this embodiment, the customize button may be configured with a physical button. In this case, the customization button Btc may not be included in the parking assistance screen and the PVM screen. Furthermore, in this case, the touch panel display section 60 may be a display of a type other than the touch panel type display.

DESCRIPTION OF SYMBOLS 10... Driver assistance apparatus 11... Vehicle driving force generation apparatus 12... Brake apparatus 13... Steering apparatus 30... Sonar sensor apparatus 40... Camera sensor apparatus 50... Radar sensor apparatus 60... Touch panel display part

Claims (5)

A driver assistance device that is mounted on a vehicle and that assists the driver in confirming the surroundings of the vehicle by presenting a surroundings monitoring screen to the driver,
The driver assistance device includes:
a detection device that detects an alert object consisting of at least one of a stationary object and a moving object existing in a peripheral area of the vehicle;
a touch panel configured to display an image;
a display control unit that generates a peripheral image, which is an image of the peripheral area, from the image information and controls display of a screen displayed on the touch panel;
with
The display control unit
While a predetermined condition is established by detecting the attention-seeking object , the attention-seeking screen including the surrounding image for calling attention to the presence of the detected attention-seeking object is displayed . displayed on the touch panel,
When the customization button is touch-operated while the periphery monitoring screen including the periphery image and the customization button is displayed on the touch panel , a predetermined display provided in the vehicle is replaced with the periphery monitoring screen. displaying on the touch panel a customization screen that is an operation screen for adjusting operation details of the driver assistance function and does not include the peripheral image ;
configured to display the alert screen on the touch panel instead of the customization screen when the predetermined condition is satisfied while the customization screen is being displayed,
Driver assistance device. In the driver assistance device according to claim 1,
The display control unit
When the predetermined condition is no longer satisfied while the alert screen is displayed on the touch panel instead of the customization screen , the customization screen is displayed on the touch panel instead of the alert screen. configured to
Driver assistance device. In the driver assistance device according to claim 1 or claim 2,
The customize button is configured to be set to a state in which the touch operation can be accepted when the vehicle is in a stopped state, and to be set to a state in which the touch operation cannot be accepted when the vehicle is not in a stopped state. ,
The alert object is the moving object approaching the vehicle,
The alert screen includes the peripheral image, and a moving object direction mark indicating an approaching direction of the moving object superimposed on the peripheral image,
Driver assistance device. In the driver assistance device according to any one of claims 1 to 3,
The surroundings monitoring screen is a parking assistance screen that is allowed to be displayed when a parking assistance function provided in the vehicle is in a valid state,
The customization screen is an operation screen including a plurality of touch-operated function change buttons for adjusting operation details of the parking assistance function.
Driver assistance device. In the driver assistance device according to any one of claims 1 to 3,
the surroundings monitoring screen is a panoramic view monitor screen that is allowed to be displayed when a panoramic view monitor function provided in the vehicle is in a valid state;
The customization screen is an operation screen including a plurality of touch-operated function change buttons for adjusting operation details of the panoramic view monitor function.
Driver assistance device.

Images